diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py
index 4b62eba7e3ab..7267281b2477 100644
--- a/api/src/opentrons/hardware_control/api.py
+++ b/api/src/opentrons/hardware_control/api.py
@@ -431,7 +431,9 @@ def has_gripper(self) -> bool:
         return False
 
     async def cache_instruments(
-        self, require: Optional[Dict[top_types.Mount, PipetteName]] = None
+        self,
+        require: Optional[Dict[top_types.Mount, PipetteName]] = None,
+        skip_if_would_block: bool = False,
     ) -> None:
         """
         Scan the attached instruments, take necessary configuration actions,
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 2190f1b5c4d1..ced88815ec94 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -653,12 +653,16 @@ def get_all_attached_instr(self) -> Dict[OT3Mount, Optional[InstrumentDict]]:
 
     # TODO (spp, 2023-01-31): add unit tests
     async def cache_instruments(
-        self, require: Optional[Dict[top_types.Mount, PipetteName]] = None
+        self,
+        require: Optional[Dict[top_types.Mount, PipetteName]] = None,
+        skip_if_would_block: bool = False,
     ) -> None:
         """
         Scan the attached instruments, take necessary configuration actions,
         and set up hardware controller internal state if necessary.
         """
+        if skip_if_would_block and self._motion_lock.locked():
+            return
         async with self._motion_lock:
             skip_configure = await self._cache_instruments(require)
             if not skip_configure or not self._configured_since_update:
diff --git a/api/src/opentrons/hardware_control/protocols/instrument_configurer.py b/api/src/opentrons/hardware_control/protocols/instrument_configurer.py
index 810caad667b4..ab5b37acc99b 100644
--- a/api/src/opentrons/hardware_control/protocols/instrument_configurer.py
+++ b/api/src/opentrons/hardware_control/protocols/instrument_configurer.py
@@ -28,6 +28,7 @@ def reset_instrument(self, mount: Optional[MountArgType] = None) -> None:
     async def cache_instruments(
         self,
         require: Optional[Dict[Mount, PipetteName]] = None,
+        skip_if_would_block: bool = False,
     ) -> None:
         """
         Scan the attached instruments, take necessary configuration actions,
diff --git a/robot-server/robot_server/instruments/router.py b/robot-server/robot_server/instruments/router.py
index f8e7448d5f1f..8ee055d98d48 100644
--- a/robot-server/robot_server/instruments/router.py
+++ b/robot-server/robot_server/instruments/router.py
@@ -216,7 +216,7 @@ async def _get_attached_instruments_ot3(
     hardware: OT3HardwareControlAPI,
 ) -> PydanticResponse[SimpleMultiBody[AttachedItem]]:
     # OT3
-    await hardware.cache_instruments()
+    await hardware.cache_instruments(skip_if_would_block=True)
     response_data = await _get_instrument_data(hardware)
     return await PydanticResponse.create(
         content=SimpleMultiBody.construct(